msight-vision 0.1.0__py3-none-any.whl

msight_vision/warper.py

@@ -0,0 +1,89 @@
+import cv2
+import numpy as np
+from threading import Thread
+
+
+class ClassicWarper:
+    """
+    warper class warp image to the standard image
+    """
+
+    def __init__(self, standard_img, 
+                 starting_behavior="return" # "wait" or "return"
+                 ):
+        self.standard_img = standard_img
+        self.warp_matrix = None
+        self.step = 0
+        self.update_interval = 1000
+        self.starting_behavior = starting_behavior  # "wait" or "return"
+
+    def get_warp_matrix_between_two_image(self, im1, im2):
+
+        # Convert images to grayscale
+        im1_gray = cv2.cvtColor(im1, cv2.COLOR_BGR2GRAY)
+        im2_gray = cv2.cvtColor(im2, cv2.COLOR_BGR2GRAY)
+
+        # Find size of image1
+        # sz = im1.shape
+
+        # Define the motion model
+        warp_mode = cv2.MOTION_HOMOGRAPHY
+
+        # Define 2x3 or 3x3 matrices and initialize the matrix to identity
+        if warp_mode == cv2.MOTION_HOMOGRAPHY:
+            warp_matrix = np.eye(3, 3, dtype=np.float32)
+        else:
+            warp_matrix = np.eye(2, 3, dtype=np.float32)
+
+        # Specify the number of iterations.
+        number_of_iterations = 500
+
+        # Specify the threshold of the increment
+        # in the correlation coefficient between two iterations
+        termination_eps = 1e-10
+
+        # Define termination criteria
+        criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT,
+                    number_of_iterations,  termination_eps)
+
+        # Run the ECC algorithm. The results are stored in warp_matrix.
+        (cc, warp_matrix) = cv2.findTransformECC(
+            im1_gray, im2_gray, warp_matrix, warp_mode, criteria)
+        return warp_matrix
+
+    def update_warp_matrix(self, image):
+        self.warp_matrix = self.get_warp_matrix_between_two_image(
+            self.standard_img, image)
+
+    def warp(self, image):
+        if self.warp_matrix is None:
+            print("WARNING: Warp matrix is not set yet. ")
+            if self.starting_behavior == "wait":
+                self.update_warp_matrix(image)
+            elif self.starting_behavior == "return":
+                t = Thread(target=self.update_warp_matrix, args=(image,))
+                t.daemon = True  # Set the thread as a daemon thread
+                t.start()
+                return image
+            else:
+                raise ValueError("Invalid starting behavior. Use 'wait' or 'return'.")
+        # Apply the warp matrix to the image
+        sz = image.shape
+        new_image = cv2.warpPerspective(
+            image, self.warp_matrix, (sz[1], sz[0]), flags=cv2.INTER_LINEAR + cv2.WARP_INVERSE_MAP)
+        self.step += 1
+        if self.step % self.update_interval == 0:
+            t = Thread(target=self.update_warp_matrix, args=(image,))
+            t.daemon = True  # Set the thread as a daemon thread
+            t.start()
+        return new_image
+    
+class ClassicWarperWithExternalUpdate:
+    def warp(self, image, warp_matrix):
+        if warp_matrix is None:
+            return image
+        # Apply the warp matrix to the image
+        sz = image.shape
+        new_image = cv2.warpPerspective(
+            image, warp_matrix, (sz[1], sz[0]), flags=cv2.INTER_LINEAR + cv2.WARP_INVERSE_MAP)
+        return new_image

msight_vision-0.1.0.dist-info/METADATA

@@ -0,0 +1,28 @@
+Metadata-Version: 2.4
+Name: msight_vision
+Version: 0.1.0
+Summary: 2D detection module for the MSight roadside perception system
+Author-email: Rusheng Zhang <rushengz@umich.edu>
+License: MIT
+Project-URL: Homepage, https://github.com/michigan-traffic-lab/MSight_Vision
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+Requires-Dist: numpy
+Requires-Dist: opencv-python
+Requires-Dist: matplotlib
+Requires-Dist: geopy
+Requires-Dist: filterpy
+Requires-Dist: ultralytics
+
+# MSight 2D Detection Library
+
+# Installation
+## 1. Install pre-requirment
+This library is based on Pytorch, please follow the [the Pytorch official website](https://pytorch.org/) to install the the correct Pytorch version that is compatible with you machine's CUDA configuration.
+
+## 2. MSight dependency
+### MSight Base
+This library is based on [msight_base](https://github.com/michigan-traffic-lab/MSight_base), please follow the guidance to install them.
+
+## MSight Edge (Optional)
+If you want to use the packed node of this library, you need to install [msight_edge](https://github.com/michigan-traffic-lab/MSight_Edge2), follow the instruction and install it.

msight_vision-0.1.0.dist-info/RECORD

@@ -0,0 +1,31 @@
+cli/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+cli/launch_2d_viewer.py,sha256=Y7gWbGzfPAc8n3jEV6hxfXIXay1bOXAx9TYIvf1cmQQ,464
+cli/launch_custom_fuser.py,sha256=ji2YwfZ17_W1EbLD_lb8djGLctK85tHhnpiQf346xck,855
+cli/launch_finite_difference_state_estimator.py,sha256=iRO65_bOYYTKUiADrW8IHW6Bxx8H7I0izP6UT15rc8Y,965
+cli/launch_road_user_list_viewer.py,sha256=tKnmQoWvqGAB3b2d2-a96j8RYpJOf26A0FyaLVYfeTY,957
+cli/launch_sort_tracker.py,sha256=aLZQzz15mbd0ciM2TvVqjfoOT-htljS6fxdmMU_60EU,911
+cli/launch_yolo_onestage_detection.py,sha256=9ohZFWetr9FaEKAiMid_GGusUGSstQL2QyAaN0ZSbIE,916
+msight_vision/__init__.py,sha256=o0Ey3th8sJxpbvhpnHcBtiX_kqv3hCQ2uAdqCvsYl7U,368
+msight_vision/base.py,sha256=IYYwxVRyCkFIjCAgvy5o_ctZp2hvAZYO6Q1Zrkbh3fM,3877
+msight_vision/detector_yolo.py,sha256=KM5K1rrsgL9Czz48-by5IUF60VoprJwcYMl6UJs5J6I,3889
+msight_vision/fuser.py,sha256=rDEcwMVa-a5bewayBuix_XFjomsUA7FmnpXjVNWD5_M,14978
+msight_vision/localizer.py,sha256=cfWU31HOAnKtdR2dIvudGYHjWnAqvpz3E51hjkrneNM,1237
+msight_vision/state_estimator.py,sha256=dJMr6w9agSFraUdalDV7bYP1Cw6y94cSsBMPOi--vLM,5684
+msight_vision/tracker.py,sha256=P9sM9Ly5pWQ299Oh__1kVcCDPneON1ND25ZYDJdl0bk,20247
+msight_vision/warper.py,sha256=nCm29xsaqAOpES7WI9W8wbPD-F7lRjAi40qrLz4lqhA,3333
+msight_vision/msight_core/__init__.py,sha256=caIlPjLY3nZbWZI87tQlWWcTpnVIKK_8yUP9W16OONY,305
+msight_vision/msight_core/detection.py,sha256=cqrAKughLHCTIkAGKMygi9CQE340Asd6ZIb-geW_9UA,5249
+msight_vision/msight_core/fusion.py,sha256=RKbKH-TUq42bf2vwSyhz9QDODk40Mmev8oXm11IRYck,2916
+msight_vision/msight_core/state_estimation.py,sha256=rdVoRYeJ1BaR_C4HIzyNzCnm0ZAIrpkEsbydfUG6gn8,1879
+msight_vision/msight_core/tracking.py,sha256=qd8R0Jl2BiWMrjcwZYqto4gjgVDvKlkZCzcajfuQ314,1162
+msight_vision/msight_core/viewer.py,sha256=Qel_5CaK38HCasIHXgzQg8HyeMLHYkF3zh1llOlJSKY,2282
+msight_vision/msight_core/warper.py,sha256=XjM6TnEG2AxYrwSfkWkfvCBV0zuoAWupZ7kyR_NiETE,4676
+msight_vision/utils/__init__.py,sha256=U9FxdI6-XHtKjf-jbReFQVe83eykaRo-a7y0glQcMU4,126
+msight_vision/utils/data.py,sha256=EzMMaxo-_tIdR2Z30Ta0qBeDHZZbThqea20ozbheuSU,3736
+msight_vision/utils/typing.py,sha256=LEGbPc8GCGuR1WoRoYtutXhfpXulr0Ri7b-O8WVTbvw,678
+msight_vision/utils/vis.py,sha256=JP-4Iajbv4Mg6fUObhh1COW_TOyVvnjQAZtX46Gx7_Q,777
+msight_vision-0.1.0.dist-info/METADATA,sha256=rV_Ce222OfQiCQzWUDTj1adqqaDf2mof_qK1BusQLQw,1173
+msight_vision-0.1.0.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
+msight_vision-0.1.0.dist-info/entry_points.txt,sha256=IBXVX0v7VvhZM4gPoPrSBswXjt0y5Z890vqRMDtun8A,442
+msight_vision-0.1.0.dist-info/top_level.txt,sha256=7ZBqh5OFAK-_CxZqI3wAJnc-gwis1ena5ngU0EN_qQk,18
+msight_vision-0.1.0.dist-info/RECORD,,

msight_vision-0.1.0.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: setuptools (80.10.2)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

msight_vision-0.1.0.dist-info/entry_points.txt

@@ -0,0 +1,7 @@
+[console_scripts]
+msight_launch_2d_viewer = cli.launch_2d_viewer:main
+msight_launch_custom_fuser = cli.launch_custom_fuser:main
+msight_launch_finite_difference_state_estimator = cli.launch_finite_difference_state_estimator:main
+msight_launch_road_user_list_viewer = cli.launch_road_user_list_viewer:main
+msight_launch_sort_tracker = cli.launch_sort_tracker:main
+msight_launch_yolo_onestage_detection = cli.launch_yolo_onestage_detection:main

msight_vision-0.1.0.dist-info/top_level.txt

@@ -0,0 +1,2 @@
+cli
+msight_vision